1998 - Draper Laboratory

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Guidance, Navigation,and ControlJim NegroAn Integrated SafetyAnalysis Methodology forEmerging Air TransportTechnologiesDeb AllingerGene RoschProf. J. KucharAn Optimal Guidance Lawfor Planetary LandingChristopher N. D’SouzaA Control LyapunovFunction Approach toRobust Stabilization ofNonlinear SystemsMarc W. McConleyBrent D. ApplebyMunther A. DahlehEric FeronRelative and DifferentialGPS Data Transfer andError AnalysisRichard PhillipsSegmentation of MRImages Using CurveEvolution and PriorInformationHomer H. PienMukund DesaiJayant ShahINS/GPS Technology Trendsfor Military SystemsGeorge T. Schmidt
Guidance, Navigation, and Control Autonomy: Just as miniature applications have been(GN&C): those words epitomize enabled by modern electronics, autonomy is being enabledDraper Laboratory and represent those by powerful yet inexpensive computers capable oftechnologies required to make systems performing the complex decision and control tasksperform such useful functions as fly to otherwise performed by human operators. Autonomousthe moon, launch satellites to system needs are being driven by economic and safetyprescribed orbits, accurately point satellite antennas, factors. Key applications include the Air Forceautonomously fly helicopters in surveillance missions, sailsubmarines autonomously in long-duration missions, orguide competent munitions accurately.Uninhabited Combat Aircraft (UCAV) and robust abortsfor reusable launch rockets. The successful developmentof autonomous systems will require a wide range oftechnologies. These new levels of autonomy are a naturalWe are proud to perform vital functions in theextension of our traditional GN&C role.development of these systems: concept development,The following six papers authored by the GN&C technicaltrade studies, requirements analyses, and algorithmstaff show the breadth and depth of our technical work:development to achieve GN&C functions for modernnaval and aerospace systems. We use advancedmathematical methods, modern computer tools, andhigh-fidelity simulations to develop our ideas, validateour designs, and support their implementation inchallenging first-of-the-kind applications.“An Integrated Safety Analysis Methodology for EmergingAir Transport Technologies,” by D. Allinger, G. Rosch, andJ. Kuchar (MIT) explains a reliability model analysis andsimulation tool that gives NASA, the FAA, and the airlineindustry one means to investigate a complex problemfacing our air traffic industry.Three trends are driving modern GN&C applications:C. D’Souza developed and evaluated a new guidance lawcomplexity, miniaturization, and autonomy.approach in his paper “An Optimal Guidance Law forComplexity: Complexity affects us in the increasingly large Planetary Landing.”number of design parameters and in what must be taken“A Control Lyapunov Function Approach to Robustinto account to achieve the demanding performanceStabilization of Nonlinear Systems,” by M. McConley, B.requirements of modern applications. For example, theAppleby, and M. Dahleh and E. Feron (MIT) describes aspace station attitude controller is made “complex” by thesystematic approach to generate a nonlinear control law,need to consider the high-order solar panel flex modedynamics.Complexity trends cause us to devise computer-basedmethods to develop suitable GN&C system designs.Indeed, we are able to develop complex systemssuccessfully because of the rapid advances in real-timecomputer technology.which gives locally optimal performance and is provablyrobust to bounded disturbances.“Relative and Differential GPS Data Transfer and ErrorAnalysis,” by R. Phillips explicitly defines high-performanceGPS measurement processing approaches, their performancecharacteristics, and their domain of applicability.Draper is performing fundamental research intoMiniaturization: Modern electronics and sensor methods for extracting image information and we aretechnologies enable complex functions to be achieved invery small packages. Today’s guidance systems are 10,000times smaller than those of 40 years ago—a trend that islikely to continue. Everyday, new applications becomeplausible and challenge our designers to model the uniquecharacteristics of these applications and devise innovativeways to solve specialized problems in areas such ascompetent munitions, personal navigators, hypervelocityapplying those methods to medical imaging as well asaerospace problems. “Segmentation of MR Images UsingCurve Evolution and Prior Information” by H. Pien, M.Desai, and J. Shah (Northeastern) illustrates oneapplication.“INS/GPS Technology Trends for Military Systems,” byG. Schmidt, Director of Draper’s Guidance TechnologyCenter, details the future of military navigation systemsvehicles, microsats, and biomedical instrumentation.Introductionapplications and their underlying drivers.
Page 2 and 3: Letter from thePresident and CEO,Vi
Page 4 and 5: Information TechnologyMilton AdamsE
Page 6 and 7: BiographyMilton Adams has been at D
Page 9 and 10: Figure 1 represents a functional de
Page 11 and 12: Programs. In effect, these controll
Page 13 and 14: Although the terminal area traffic
Page 15 and 16: Table 2. ATFM performance evaluatio
Page 17 and 18: In the experiments, a nominal capac
Page 19 and 20: [3] Wambsganss, Michael C. “Colla
Page 21 and 22: Guidance, Navigation, and Control A
Page 23 and 24: A Control Lyapunov FunctionApproach
Page 25 and 26: x( 0) ∈ X and w(t) ∈Wfor all t
Page 27 and 28: (b) Select a quadratic RCLF V i (x)
Page 29 and 30: at each grid point. In the case w 1
Page 31: References[1] Ball, J.A. and A.J. v
Page 35 and 36: Relative and Differential GPSData T
Page 37 and 38: The first term on the right in the
Page 39 and 40: H R# δρ R,GPS -H A# δρ A,GPSThi
Page 41 and 42: selection; and (3) shown that the a
Page 43 and 44: Guidance, Navigation, and Control A
Page 45 and 46: Segmentation of MR ImagesUsing Curv
Page 47 and 48: (3)where ν now represents a contin
Page 49 and 50: Experimental ResultsThe results of
Page 51 and 52: Table 1. A summary of segmentation
Page 53 and 54: Guidance, Navigation,and ControlJim
Page 55 and 56: BiographyGeorge SchmidtGeorge Schmi
Page 57 and 58: clock and ephemeris errors, as well
Page 59 and 60: maintained in a rigid structure, wh
Page 61 and 62: Table 5. “Typical” absolute GPS
Page 63 and 64: performed, then the target location
Page 65 and 66: tightly-coupled system, however, ca
Page 67 and 68: Concluding RemarksRecent progress i
Page 69 and 70: As real-time systems evolve into th
Page 71 and 72: Advanced Fault-TolerantComputing fo
Page 73 and 74: The Viking and Voyager were both in
Page 75 and 76: Containment Regions (FCRs). There a
Page 77 and 78: well as reversing the whole process
Page 79 and 80: As real-time systems evolve into th
Page 81 and 82: Automated Station-Keepingfor Satell
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Figure 2. Minimum elevation angles
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anomaly M and/or the ascending node
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However, since optimization and rec
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is maintained in the Northern Hemis
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autonomy. It must have the ability
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[31] Neelon, Joseph G., Jr., Paul J
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Draper’s primary goal is to Drape
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)Rotordynamic Modelingof an Activel
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Eq. (9) becomes:λ[ R ] { Φ } = [
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chosen to be 24, for a total of 48
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InertialInstruments/MechanicalDesig
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BiographyJeffrey Borenstein is curr
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process step. Process information i
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Figure 4. Control chart for boron d
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References[1] Barbour, N., J. Conne
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Draper Laboratory continues to engi
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Validating the Validating Tool:Defi
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calculates miscellaneous terms, suc
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Table 1. Suggested specification sh
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User Accuracy as aFunction of Simul
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20-min averaging, this clock lockin
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Table 2. Sample high-level summary
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AcknowledgmentR.L. Greenspan, J.A.
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Systems IntegrationRich MartoranaPe
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BiographyAnthony Kourepenis is an A
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control is employed to maintain the
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Table 1. Summary of automotive yaw
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Resolution (60 Hz) deg/h10000000100
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References[1] Greiff, P., B. Boxenh
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Guidance, Navigation, and Control A
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An Integrated Safety AnalysisMethod
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Infrastructure ModelsSystemRequirem
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Figures 6 and 7 illustrate the bloc
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Notice that each flight track descr
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Table 7. Safety statistics at 1700-
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Guidance, Navigation, and Control A
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An Optimal Guidance Law forPlanetar
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Note that the states in the three d
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Crossrange (Kft)10090807060504030Cl
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The 1997 Charles StarkDraper PrizeT
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The 1997 Charles StarkDraper Prize1
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“Draper encourages its personnel
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Gimballed Vibrating GyroscopeHaving
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Optical Source Isolator withPolariz
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Hunting Suppressor forPolyphase Ele
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Sensor Having an Off-Frequency Driv
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proof mass from transients and enha
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1997 Published PapersThe following
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monitoring of space structures and
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measured by kinematic degrees of fr
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i.e., what percent of the earth’s
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McConley, M. W.; Dahleh, M. A.; Fer
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unaffordable, or even misguided. Bu
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The Draper DistinguishedPerformance
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Educational Activitiesat Draper Lab
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1998 - Draper Laboratory

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